CN110371694A - For by the method and system of cabinet mixing stacking - Google Patents
For by the method and system of cabinet mixing stacking Download PDFInfo
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- CN110371694A CN110371694A CN201810814947.4A CN201810814947A CN110371694A CN 110371694 A CN110371694 A CN 110371694A CN 201810814947 A CN201810814947 A CN 201810814947A CN 110371694 A CN110371694 A CN 110371694A
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- Prior art keywords
- cabinet
- combination
- basic point
- piled
- bound term
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Abstract
Present disclose provides a kind of for being related to warehouse mixing stacking field for the method and system of cabinet mixing stacking.This method may include: to establish filter according to cabinet to be piled up and basic point；The combination for treating stacking cabinet and basic point carries out bound term inspection one by one, and inspection result is recorded in the filter；And selection meets the combination of Optimum Matching relationship from the combination by the cabinet and basic point to be piled up of bound term inspection by selection strategy, the corresponding row and column of selected combination is deleted from the filter, and increases the new basic point as brought by selected combined cabinet in the filter.The disclosure can reduce calculation amount, improve computational efficiency.
Description
Technical field
It is this disclosure relates to warehouse mixing stacking field, in particular to a kind of for by the method for cabinet mixing stacking and being
System.
Background technique
It is the unmanned storehouse essential one of construction by six shaft mechanical arm automatic stackings currently in warehouse mixing stacking field
Ring.Wherein efficiently quickly sized-multiple palletizing method is the mostly important link of stacking aspect again.In palletization, applicable field
Scape is the cabinet of rectangular cubic, needs to pile up the cabinet of different length, width and height onto pallet, and pallet also has length, width and height
Space attribute.
Fig. 1 is to schematically show the schematic diagram in accordance with some embodiments for piling up cabinet.As shown in Figure 1, defining case
Body vertex is respectively 1,2,3,4,5,6,7,8.Using vertex 1 be it is left back under (Left-back-down) point as cabinet positioning
Point, then the spatial position on vertex 1 is just determined, and also means that cabinet has also determined that in the position in pallet space.Such as Fig. 2
It is shown, in right-handed coordinate system as basic point with point (0,0,0), i.e. the spatial point that can place of anchor point, such as vertex 1 is put
It sets in (0,0,0) point.
When a cabinet has determined the space of placement, also means that and generate new basic point as other cabinets can be placed
Angle point, the angle point 2,4,5 of example as shown in figure 1 is the angle point that can place other cabinets.Angle is placed on when choosing other cabinets
When at point 2,4 or 5, needing to consider space constraints, it is determined whether some cabinet can be placed at angle point 2,4 or 5, from
And determine the candidate relationship of the cabinet Yu some angle point 2,4 or 5.Currently, when basic point set and candidate's cabinet collection as angle point
It closes there are when the relationship of multi-to-multi, needing largely to calculate to determine that can some cabinet be placed at some basic point, causes to count
It is relatively low to calculate efficiency.
Summary of the invention
The technical problem that the embodiment of the present disclosure solves is: providing a kind of for by the method for cabinet mixing stacking or being
System improves computational efficiency to reduce calculation amount.
According to the one aspect of the embodiment of the present disclosure, provide a kind of for by the method for cabinet mixing stacking, comprising: root
Filter is established according to cabinet to be piled up and basic point；The combination for treating stacking cabinet and basic point carries out bound term inspection one by one, will examine
The fruit that comes to an end is recorded in the filter；And by selection strategy from the cabinet and basic point to be piled up by bound term inspection
Selection meets the combination of Optimum Matching relationship in combination, and the corresponding row and column of selected combination is deleted from the filter,
And increase the new basic point as brought by selected combined cabinet in the filter.
In some embodiments, the bound term inspection include: cabinet space with the presence or absence of intersecting, be in up and down
The cabinet of spatial position limits space with the presence or absence of whether enough bearing area and cabinet exceed pallet.
In some embodiments, by the step that inspection result is recorded in the filter include: the space of cabinet not
In the presence of the upper and lower spatial position that intersects, is in cabinet there are enough bearing area and cabinet limit without departing from pallet it is empty
Between in the case where, determine the combination of cabinet to be piled up and basic point by bound term inspection, and by the knot by bound term inspection
Fruit is recorded in the filter.
It in some embodiments, include: to be deposited in the space of cabinet by the step that inspection result is recorded in the filter
Cabinet in the upper and lower spatial position that intersects, is in does not have enough bearing area or cabinet to limit space beyond pallet
In the case of, determine that the combination of cabinet to be piled up and basic point, and should be not over bound term inspection not over bound term inspection
Result be recorded in the filter.
In some embodiments, the method also includes: continue the combination to remaining cabinet to be piled up and new basic point into
Row bound term inspection, and continue the combination that selection meets the cabinet and basic point to be piled up of Optimum Matching relationship, until not to code
Put cabinet or without until available pallet space.
In some embodiments, continue the combination to remaining cabinet to be piled up and new basic point carry out bound term check it
Before, the method also includes: it checks in the remaining combination of cabinet and basic point to be piled up with the presence or absence of the group by bound term inspection
It closes；It is combined if there is by the residue of bound term inspection, then checks the space of residue combination raising middle flask body with the presence or absence of mutual
Intersect；It is combined if there is no by the residue of bound term inspection, then carries out bound term inspection next time without combining to residue.
In some embodiments, the method also includes: intersect if the space of remaining combination raising middle flask body exists,
Residue combination is determined not over bound term inspection, otherwise determines that residue combination passes through bound term inspection.
In some embodiments, by selection strategy selection meet the combination of Optimum Matching relationship the step of include: for
The basic point selects the maximum case to be piled up of floor space from the combination by the cabinet and basic point to be piled up of bound term inspection
Body, wherein the maximum cabinet to be piled up of the floor space and the basic point meet Optimum Matching relationship；Alternatively, for the basic point,
Floor space is equal if it exists and maximum at least two to code in combination by the cabinet and basic point to be piled up of bound term inspection
Cabinet is put, then described at least two wait pile up the highest cabinet to be piled up of selection height in cabinet, wherein the height is highest
Cabinet to be piled up and the basic point meet Optimum Matching relationship.
According to the other side of the embodiment of the present disclosure, provide a kind of for by the system of cabinet mixing stacking, comprising:
Filter generation unit, for establishing filter according to cabinet to be piled up and basic point；Bound term inspection unit is piled up for treating
The combination of cabinet and basic point carries out bound term inspection one by one, and inspection result is recorded in the filter；And selecting unit,
For selecting to meet Optimum Matching pass from the combination by the cabinet and basic point to be piled up of bound term inspection by selection strategy
The combination of system is deleted the corresponding row and column of selected combination from the filter, and is increased in the filter by institute
Select new basic point brought by combined cabinet.
In some embodiments, the bound term inspection include: cabinet space with the presence or absence of intersecting, be in up and down
The cabinet of spatial position limits space with the presence or absence of whether enough bearing area and cabinet exceed pallet.
In some embodiments, the bound term inspection unit is used to be not present in the space of cabinet and intersects, is in
The cabinet of upper and lower spatial position is there are enough bearing area and in the case that cabinet limits space without departing from pallet, determine to
The combination of cabinet and basic point is piled up by bound term inspection, and the filter is recorded in the result by bound term inspection
In.
In some embodiments, the bound term inspection unit in the presence of the space of cabinet for intersecting, being in
In the case that the cabinet of down space position does not have enough bearing area or cabinet to limit space beyond pallet, determine wait pile up
The mistake is recorded not over bound term inspection, and by the result not over bound term inspection in the combination of cabinet and basic point
In filter.
In some embodiments, the bound term inspection unit is also used to continue to remaining cabinet to be piled up and new basic point
Combination carry out bound term inspection；The selecting unit be also used to continue selection meet Optimum Matching relationship cabinet to be piled up and
The combination of basic point, until cabinet not piled up or no available pallet space.
In some embodiments, the bound term inspection unit is also used to check the remaining combination of cabinet and basic point to be piled up
In with the presence or absence of passing through the combination of bound term inspection；It is combined if there is by the residue of bound term inspection, then checks the residue
The space of cabinet whether there is and intersect in combination；If there is no by bound term inspection residue combine, then without pair
Residue combination carries out bound term inspection next time.
In some embodiments, if the bound term inspection unit is also used to the remaining space for combining raising middle flask body, there are phases
Mutually intersect, it is determined that the residue is combined not over bound term inspection, otherwise determines that residue combination passes through bound term inspection.
In some embodiments, the selecting unit is used for: for the basic point, from by bound term inspection wait pile up
In the combination of cabinet and basic point select the maximum cabinet to be piled up of floor space, wherein the maximum cabinet to be piled up of the floor space with
The basic point meets Optimum Matching relationship；Alternatively, for the basic point, in the cabinet and basic point to be piled up by bound term inspection
Floor space is equal if it exists and maximum at least two cabinet to be piled up in combination, then described at least two wait pile up in cabinet
The highest cabinet to be piled up of selection height, wherein the highest cabinet to be piled up of the height and the basic point meet Optimum Matching relationship.
According to the other side of the embodiment of the present disclosure, provide a kind of for by the system of cabinet mixing stacking, comprising:
Memory；And it is coupled to the processor of the memory, the processor is configured to based on the memory is stored in
The foregoing method of instruction execution.
According to the other side of the embodiment of the present disclosure, a kind of computer readable storage medium is provided, is stored thereon with
The step of computer program instructions, which realizes foregoing method when being executed by processor.
In the method for above-described embodiment, filter is established according to cabinet to be piled up and basic point；It treats and piles up cabinet and base
The combination of point carries out bound term inspection one by one, and inspection result is recorded in the filter；And by selection strategy from passing through
Selection meets the combination of Optimum Matching relationship in the combination of the cabinet and basic point to be piled up of bound term inspection, and deletes from the filter
Except row and column corresponding to selected combination, and increase the new base as brought by selected combined cabinet in the filter
Point.This method can reduce calculation amount, improve computational efficiency.
By the detailed description referring to the drawings to the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Detailed description of the invention
The attached drawing for constituting part of specification describes embodiment of the disclosure, and together with the description for solving
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is to show the schematic diagram in accordance with some embodiments for piling up cabinet；
Fig. 2 is the schematic diagram for showing right-handed coordinate system；
Fig. 3 is to show to be used for according to some embodiments of the disclosure by the flow chart of the method for cabinet mixing stacking；
Fig. 4 is the schematic diagram by a stage during cabinet mixing stacking shown according to some embodiments of the disclosure；
Fig. 5 is the signal by another stage during cabinet mixing stacking shown according to some embodiments of the disclosure
Figure；
Fig. 6 is the schematic cross-section for showing the stacking cabinet according to some embodiments of the disclosure；
Fig. 7 is to show to be used for according to other embodiments of the disclosure by the flow chart of the method for cabinet mixing stacking；
Fig. 8 is to show to be used for according to some embodiments of the disclosure by the structure chart of the system of cabinet mixing stacking；
Fig. 9 is to show to be used for according to other embodiments of the disclosure by the structure chart of the system of cabinet mixing stacking；
Figure 10 is to show to be used for according to other embodiments of the disclosure by the structure chart of the system of cabinet mixing stacking.
Specific embodiment
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
Scope of disclosure.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the disclosure
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 3 is to show to be used for according to some embodiments of the disclosure by the flow chart of the method for cabinet mixing stacking.The party
Method may include step S302~S306.Fig. 4 and Fig. 5 is shown cabinet mixing stacking according to some embodiments of the disclosure
The schematic diagram in several stages in journey.Below with reference to Fig. 3, Fig. 4 and Fig. 5 detailed description according to some embodiments of the disclosure for inciting somebody to action
The method of cabinet mixing stacking.
As shown in figure 3, establishing filter according to cabinet to be piled up and basic point in step S302.
For example, as shown in figure 4, cabinet 110 has been piled up on pallet, so that there are three basic points 1,2 and 3.In addition,
There is also cabinet A, B and C to be piled up.Filter is established according to cabinet A, B and C to be piled up and basic point 1,2 and 3, such as 1 institute of table
Show.For example, the filter can be two-dimentional Boolean filter.
The illustrative filter of table 1
| Basic point 1 | Basic point 2 | Basic point 3 | |
| Cabinet A | |||
| Cabinet B | |||
| Cabinet C |
In some embodiments, the basic point in filter may include the available basic point on entire pallet, and not only limit
Basic point 1,2,3 brought by cabinet 110.
Fig. 3 is returned to, in step S304, the combination for treating stacking cabinet and basic point carries out bound term inspection one by one, will check
As a result it is recorded in filter.
In some embodiments, the bound term inspection may include: cabinet space with the presence or absence of intersecting, be in
The cabinet of down space position limits space with the presence or absence of whether enough bearing area and cabinet exceed pallet.
Here, check that the space of cabinet is properly termed as interference verification with the presence or absence of cross one another project.Interference verification
Needing to calculate currently cabinet to be piled up and other cabinets, with the presence or absence of space crossed, whether this can check and touch between cabinet
It hits.
For example, for piled up along x-axis (for example, coordinate system shown in Figure 2) two cabinets (at this time the two
Cabinet be spatially left-right position pile up), can calculate the two cabinets x-axis projection (this is projected as line segment) whether
There is intersection.If there is intersection, then the two cabinets exist space crossed in the direction of the x axis, and otherwise the two cabinets are in x-axis direction
It is upper that there is no space crossed.
In another example for piled up along y-axis (for example, coordinate system shown in Figure 2) two cabinets (at this time this two
A cabinet is spatially to pile up in upper and lower position), the projection (this is projected as line segment) that can calculate the two cabinets in y-axis is
It is no to have intersection.If there is intersection, then the two cabinets exist space crossed in the y-axis direction, and otherwise the two cabinets are in y-axis side
There is no space crossed upwards.
In another example for piled up along z-axis (for example, coordinate system shown in Figure 2) two cabinets (at this time this two
A cabinet is spatially to pile up in front-rear position), the projection (this is projected as line segment) that can calculate the two cabinets in z-axis is
It is no to have intersection.If there is intersection, then the two cabinets exist space crossed in the z-axis direction, and otherwise the two cabinets are in z-axis side
There is no space crossed upwards.
Cabinet for being in upper and lower spatial position needs to calculate currently case to be piled up with the presence or absence of enough bearing area
There are the contacts area of the cabinet of supporting relation with other for body, so that it is determined that whether bearing area is enough.
In some embodiments, by inspection result be recorded the step in filter may include: the space of cabinet not
In the presence of the upper and lower spatial position that intersects, is in cabinet there are enough bearing area and cabinet limit without departing from pallet it is empty
Between in the case where, determine the combination of cabinet to be piled up and basic point by bound term inspection, and by the knot by bound term inspection
Fruit is recorded in filter.
That is, determining that the combination of cabinet and basic point to be piled up passes through bound term in the case where following three condition is all satisfied
Check: (1) there is no intersect in the space of cabinet；(2) being in the cabinet of upper and lower spatial position, there are enough bearing area；
(3) cabinet limits space without departing from pallet.In some embodiments, True will can be denoted as by the result of bound term inspection
(true).
In some embodiments, the step in filter is recorded in inspection result may include: to deposit in the space of cabinet
Cabinet in the upper and lower spatial position that intersects, is in does not have enough bearing area or cabinet to limit space beyond pallet
In the case of, determine that the combination of cabinet to be piled up and basic point, and should be not over bound term inspection not over bound term inspection
Result be recorded in filter.
That is, occurring in which that at least one situation determines that the combination of cabinet and basic point to be piled up does not have in following three kinds of situations
With the presence of passing through bound term inspection: (1) space of cabinet intersects；(2) cabinet for being in upper and lower spatial position is not enough
Bearing area；(3) cabinet limits space beyond pallet.It in some embodiments, can will be not over bound term inspection
As a result it is denoted as False (vacation).
For example, carrying out bound term inspection one by one to the combination of cabinet to be piled up shown in Fig. 4 and basic point, 3 × 3 times are shared about
Beam item inspection.The combination checked includes: (cabinet A, basic point 1), (cabinet A, basic point 2), (cabinet A, basic point 3), (cabinet B, base
Point 1), (cabinet B, basic point 2), (cabinet B, basic point 3), (cabinet C, basic point 1), (cabinet C, basic point 2) and (cabinet C, basic point 3).
Then bound term inspection result is recorded in filter, as shown in table 2.
Bound term inspection result in the illustrative filter of table 2
| Basic point 1 | Basic point 2 | Basic point 3 | |
| Cabinet A | False | True | False |
| Cabinet B | False | True | False |
| Cabinet C | False | True | False |
From table 2 above as can be seen that by bound term inspection cabinet A, B, C can be placed at basic point 2, in basic point 1,3
Place cannot place cabinet A, B, C.
Fig. 3 is returned to, in step S306, by selection strategy from the group of cabinet and basic point to be piled up by bound term inspection
Selection meets the combination of Optimum Matching relationship in conjunction, and the corresponding row and column of selected combination is deleted from filter (for example, institute
Column corresponding to row and basic point corresponding to cabinet in selection combination), and increase in the filter by selected combined case
New basic point brought by body.
In some embodiments, by selection strategy selection meet the combination of Optimum Matching relationship the step of may include:
For the basic point (such as some or certain basic points), from the combination by the cabinet and basic point to be piled up of bound term inspection
Select the maximum cabinet to be piled up of floor space.The maximum cabinet to be piled up of the floor space and the basic point meet Optimum Matching relationship.
In this embodiment, selection strategy is maximum sole product strategy.For some or certain basic points, meeting True
Combination in select the maximum cabinet to be piled up of floor space, cabinet to be piled up selected in this way and group composed by corresponding basic point
Conjunction is exactly to meet the combination of Optimum Matching relationship.
In further embodiments, the step of meeting the combination of Optimum Matching relationship by selection strategy selection can wrap
Include: for the basic point, in the combination by the cabinet and basic point to be piled up of bound term inspection if it exists floor space it is equal and
Maximum at least two cabinet to be piled up, then described at least two wait pile up the highest case to be piled up of selection height in cabinet
Body.The highest cabinet to be piled up of the height and the basic point meet Optimum Matching relationship.
In this embodiment, selection strategy is the long-pending combined strategy with height of maximum sole.For some or certain bases
Point, equal there are floor space and maximum at least two cabinet to be piled up, then compare these and wait for code in the combination for meeting True
The height for putting cabinet, described at least two wait pile up the highest cabinet to be piled up of selection height in cabinet.It is selected in this way
Cabinet to be piled up with to combine composed by corresponding basic point be exactly the combination for meeting Optimum Matching relationship.
It should be appreciated by those skilled in the art that selection strategy recited above is merely exemplary.Embodiment of the disclosure
It can also be using other selection strategies.Therefore, the scope of the present disclosure is not limited to that.For example, table 3 is shown according to this public affairs
Open the selection strategy of some embodiments.
The illustrative selection strategy of table 3
In some embodiments, after each strategy according to table 3 is treated and piles up cabinet progress descending arrangement, first is come
The cabinet to be piled up of position is selected cabinet.Cabinet to be piled up selected in this way combines just with composed by corresponding basic point
It is the combination for meeting Optimum Matching relationship.
In further embodiments, minimum three side difference ratio strategies alternatively policy selection case to be piled up can be used
Body.The strategy can combine Fig. 6 explanation.
Fig. 6 is the schematic cross-section for showing the stacking cabinet according to some embodiments of the disclosure.Fig. 6 shows flat along xy
The sectional view of face interception.The width w of remaining space is shown in Fig. 6R, remaining space height hR, cabinet width w and cabinet
Height h.In addition, there is also the length d of remaining space for solid spaceR(Fig. 6 is not shown).For cabinet, there is also casees
The length d of body (Fig. 6 is not shown).In this way, minimum three side difference ratio strategies are as follows: min { (wR-w)/wR,(dR-d)/dR,(hR–h)/
hR}。
That is, selecting (w for different cabinetsR-w)/wR、(dR-d)/dR、(hR–h)/hRIt is the cabinet of minimum value.
In some embodiments, for (wR-w)/wR、(dR-d)/dR、(hR–h)/hRThe feelings of minimum value cannot be met simultaneously
Condition can select corresponding cabinet according to scheduled priority.For example, priority is width > length > height etc..That is, preferentially examining
Consider (wR-w)/wRFor the cabinet of minimum value, (d is secondly consideredR-d)/dRFor the cabinet of minimum value, (h is finally consideredR–h)/hRFor most
The cabinet of small value.
So far, described above is the selection strategies according to some embodiments of the disclosure.In embodiment of the disclosure, it selects
Strategy can be one in above-mentioned strategy, be also possible to the combination of above-mentioned certain strategies.That is, the choosing of some embodiments of the disclosure
Selecting strategy includes at least one of above-mentioned strategy.
The process of step S306 is described in detail below with reference to Fig. 5.
For example, as shown in figure 5, position for basic point 2, passes through selection strategy (for example, maximum sole product strategy) selection
To cabinet B to be piled up, then the combination of cabinet B and basic point 2 to be piled up are to meet the combination of Optimum Matching relationship.Selecting the combination
After (cabinet B, basic point 2), column corresponding to row corresponding to cabinet B and basic point 2 are deleted from filter, as shown in table 4.Separately
Outside, due to piling up after basic point 2 by cabinet B, new basic point 4,5 and 6 is produced, therefore increase in the filter by cabinet B
Brought new basic point 4,5 and 6, as shown in table 4.
Table 4 illustratively increases the filter after basic point newly
| Basic point 1 | Basic point 3 | Basic point 4 | Basic point 5 | Basic point 6 | |
| Cabinet A | False | False | |||
| Cabinet C | False | False |
So far, it provides and is used for according to some embodiments of the disclosure by the method for cabinet mixing stacking.In the method,
After carrying out bound term inspection in the combination for treating stacking cabinet and basic point one by one and inspection result be recorded in filter,
Selection meets the combination of Optimum Matching relationship from the combination by bound term inspection, selects without considering all combinations
The combination for meeting Optimum Matching relationship is selected, therefore can reduce calculation amount.Moreover, meeting the combination of Optimum Matching relationship in selection
Afterwards, from row and column corresponding to the combination is deleted in filter (for example, row corresponding to cabinet and basic point institute in selected combination
Corresponding column), to no longer carry out bound term inspection to the cabinet and basic point, the feelings computed repeatedly can be prevented in this way
Condition, therefore calculation amount can be reduced, improve computational efficiency.
In some embodiments, the method can also include: the group continued to remaining cabinet to be piled up and new basic point
It closes and carries out bound term inspection, and continue the combination that selection meets the cabinet and basic point to be piled up of Optimum Matching relationship, until not having
Until cabinet to be piled up or no available pallet space.
For example, continuing the combination to remaining cabinet to be piled up and new basic point carries out bound term inspection, inspection result such as table 5
It is shown.Then by selection strategy, selection meets the cabinet to be piled up of Optimum Matching relationship from the combination that inspection result is True
With the combination of basic point.
Table 5 illustratively increases the bound term inspection result after basic point newly
| Basic point 1 | Basic point 3 | Basic point 4 | Basic point 5 | Basic point 6 | |
| Cabinet A | False | False | True | False | True |
| Cabinet C | False | False | False | True | False |
In this embodiment, from filter delete meet row and column corresponding to the combination of Optimum Matching relationship after,
Continue the combination to remaining cabinet to be piled up and new basic point and carry out bound term inspection, and continues selection and meet Optimum Matching relationship
Cabinet and basic point to be piled up combination, row and column corresponding to the combination is then being deleted from filter.Circulation executes this
The step of sample, until cabinet not piled up or no available pallet space.Due to selecting to meet Optimum Matching every time
After the combination of relationship, row and column corresponding to the combination is just deleted from filter, can reduce calculation amount in this way, is improved and is calculated
Efficiency.
In some embodiments, continue the combination to remaining cabinet to be piled up and new basic point carry out bound term check it
Before, the method can also include: in the remaining combination for check cabinet and basic point to be piled up with the presence or absence of by bound term inspection
Combination；It is combined if there is by the residue of bound term inspection, then checks that the space of residue combination raising middle flask body whether there is
It intersects；It is combined if there is no by the residue of bound term inspection, then without carrying out bound term next time to residue combination
It checks.
For example, remaining cabinet A and C and basic point 1 and 3 to be piled up in table 4 above, thus remaining combination is (case
Body A, basic point 1), (cabinet A, basic point 3), (cabinet C, basic point 1) and (cabinet C, basic point 3).It is not present in this four remaining combinations
By the combination of bound term inspection, i.e., this four combination bound term inspection results are False, then without to this four remaining sets
It closes and carries out bound term inspection next time.This is because the space of basic point 1 and 3 will not be made to improve after basic point 2 places cabinet B
(this is because the available space of basic point 1 or 3 may be occupied, therefore the space of basic point 1 and 3 is deteriorated；Or even if available space
Do not occupied, available space is identical as original space, therefore does not also improve), therefore do not need to remaining cabinet and base
The aforementioned four combination of point carries out repeated bound term inspection, it is only necessary to calculate the bound term of remaining cabinet and newly-increased basic point 4,5 and 6
Inspection.Calculation amount can be reduced in this way, improve computational efficiency.
In this embodiment, for there is remaining the case where combining by bound term inspection, only check that the residue combines
The space of middle cabinet only carries out interference verification, does not reexamine other two bound terms with the presence or absence of intersecting.This is because
Be in the cabinet of upper and lower spatial position with the presence or absence of enough bearing area and cabinet whether exceed pallet limit space this two
A bound term belongs to static check, this two inspection result not will receive the influence of selected combined cabinet.Therefore, for
In the presence of remaining the case where combining by bound term inspection, even if piling up selected cabinet at corresponding basic point, this two about
The inspection result of beam item still passes through, that is, being in the cabinet of upper and lower spatial position, there are enough bearing area and cabinet not to have
Space is limited beyond pallet.And the space of cabinet will receive with the presence or absence of cross one another result and pile up selected cabinet to right
The influence at basic point is answered, therefore need to only check that the space of cabinet whether there is and intersect.Calculation amount can be reduced in this way,
Improve computational efficiency.
In some embodiments, it is mutually handed over if the space that the method can also include: remaining combination raising middle flask body exists
Fork, it is determined that the residue is combined not over bound term inspection, otherwise determines that residue combination passes through bound term inspection.In the reality
Shi Zhong, for there is remaining the case where combining by bound term inspection, by checking that the space of residue combination raising middle flask body is
It is no that the bound term inspection next time to residue combination can be completed in the presence of intersecting.For the residue by bound term inspection
Combination meets the selection basis of Optimum Matching composition of relations as selection next time.
Fig. 7 is to show to be used for according to other embodiments of the disclosure by the flow chart of the method for cabinet mixing stacking.Such as
Shown in Fig. 7, the method comprising the steps of S702~S722.
In step S702, filter is established according to cabinet to be piled up and basic point.
In step S704, the combination for treating stacking cabinet and basic point carries out bound term inspection one by one, inspection result is recorded
Into filter.
In step S706, selected from the combination by the cabinet and basic point to be piled up of bound term inspection by selection strategy
The corresponding row and column of selected combination is deleted in the combination for meeting Optimum Matching relationship from filter, and in the filter
Increase the new basic point as brought by selected combined cabinet.
In step S708, judge whether cabinet to be piled up all is finished by selection.If it is, process terminates, otherwise mistake
Journey enters step S710.
In step S710, available pallet space is judged whether there is.If it is, process enters step S712, otherwise
Process terminates.
In step S712, check the remaining combination of cabinet and basic point to be piled up with the presence or absence of the group by bound term inspection
It closes.If it is, process enters step S714；Else process enters step S716.
In step S714, checks that the space of residue combination raising middle flask body whether there is and intersect.If it is, process into
Enter step S718；Else process enters step S720.
In step S716, bound term inspection next time is carried out without combining to residue.
In step S718, determine residue combination not over bound term inspection.
In step S720, determine that residue combination passes through bound term inspection.
In step S722, bound term inspection is carried out to the combination of remaining cabinet to be piled up and new basic point.It can will be remaining
Cabinet to be piled up and the group of new basic point be collectively referred to as Combination nova.
For returning to step S706 by the remaining combination of bound term inspection and Combination nova, selection strategy choosing is continued through
The combination for meeting Optimum Matching relationship is selected out, until cabinet not piled up or no available pallet space.
In the method for the embodiment, selection meets the group of Optimum Matching relationship from the combination by bound term inspection
It closes, selects the combination for meeting Optimum Matching relationship without considering all combinations, therefore can reduce calculation amount.Every
After selection meets the combination of Optimum Matching relationship, row and column corresponding to the combination is just deleted from filter, thus no longer right
The cabinet and basic point carry out bound term inspection, can prevent the case where computing repeatedly in this way.And pass through about for existing
The case where remaining combination of beam item inspection, only checks that the space of residue combination raising middle flask body whether there is and intersects.Therefore, should
Method can reduce calculation amount, improve computational efficiency.
Fig. 8 is to show to be used for according to some embodiments of the disclosure by the structure chart of the system of cabinet mixing stacking.Such as Fig. 8
Shown, which may include filter generation unit 802, bound term inspection unit 804 and selecting unit 806.
The filter generation unit 802 can be used for establishing filter according to cabinet to be piled up and basic point.
The combination that the bound term inspection unit 804 can be used for treating stacking cabinet and basic point carries out bound term inspection one by one
It looks into, inspection result is recorded in filter.
The selecting unit 806 can be used for through selection strategy from the cabinet and basic point to be piled up by bound term inspection
Selection meets the combination of Optimum Matching relationship in combination, the corresponding row and column of the selected combination of deletion from filter, and
Increase the new basic point as brought by selected combined cabinet in the filter.
In the embodiment for by the system of cabinet mixing stacking, due to treating stacking case in bound term inspection unit
After the combination of body and basic point carries out bound term inspection one by one and inspection result is recorded in filter, selecting unit is from passing through about
Selection meets the combination of Optimum Matching relationship in the combination of beam item inspection, selects to meet most without considering all combinations
The combination of excellent matching relationship, therefore can reduce calculation amount.Moreover, selecting unit meets the combination of Optimum Matching relationship in selection
Afterwards, from row and column corresponding to the combination is deleted in filter (for example, row corresponding to cabinet and basic point institute in selected combination
Corresponding column), to no longer carry out bound term inspection to the cabinet and basic point, the feelings computed repeatedly can be prevented in this way
Condition, therefore calculation amount can be reduced, improve computational efficiency.
In some embodiments, the bound term inspection may include: cabinet space with the presence or absence of intersecting, be in
The cabinet of down space position limits space with the presence or absence of whether enough bearing area and cabinet exceed pallet.
In some embodiments, the bound term inspection unit 804 can be used for the space in cabinet there is no intersect,
The cabinet of upper and lower spatial position is in there are enough bearing area and in the case that cabinet limits space without departing from pallet, really
By bound term inspection filter is recorded in the result by bound term inspection by the combination of fixed cabinet and basic point to be piled up
In.
In further embodiments, the bound term inspection unit 804 can be used for cabinet space exist intersect,
Be in upper and lower spatial position cabinet there is no enough bearing area or cabinet to limit space beyond pallet in the case where, determine
The combination of cabinet and basic point to be piled up is recorded not over bound term inspection, and by the result not over bound term inspection
In filter.
In some embodiments, the bound term inspection unit 804 can be also used for continuing to remaining cabinet to be piled up and
The combination of new basic point carries out bound term inspection.The selecting unit 806 can be also used for continuing to select to meet Optimum Matching relationship
The combination of cabinet and basic point to be piled up, until cabinet not piled up or no available pallet space.
In some embodiments, which can be also used for checking the surplus of cabinet and basic point to be piled up
With the presence or absence of the combination by bound term inspection in remaining combination；It combines, then checks if there is by the residue of bound term inspection
The space of residue combination raising middle flask body, which whether there is, to intersect；It is combined if there is no by the residue of bound term inspection, then
Bound term inspection next time is carried out without combining to residue.
In some embodiments, if the bound term inspection unit 804 can be also used for the space of remaining combination raising middle flask body
In the presence of intersecting, it is determined that the residue is combined not over bound term inspection, is otherwise determined that residue combines and is passed through bound term
It checks.
In some embodiments, which can be used for for the basic point, from by bound term inspection to
It piles up and selects the maximum cabinet to be piled up of floor space in the combination of cabinet and basic point.The maximum cabinet to be piled up of the floor space with should
Basic point meets Optimum Matching relationship.
In further embodiments, which can be used for passing through bound term inspection for the basic point
Floor space is equal if it exists and maximum at least two cabinet to be piled up in the combination of cabinet and basic point to be piled up, then it is described extremely
Few two wait pile up the highest cabinet to be piled up of selection height in cabinet.The highest cabinet to be piled up of the height meets with the basic point
Optimum Matching relationship.
Fig. 9 is to show to be used for according to other embodiments of the disclosure by the structure chart of the system of cabinet mixing stacking.It should
System includes memory 910 and processor 920.Wherein:
Memory 910 can be disk, flash memory or other any non-volatile memory mediums.Memory is for storing Fig. 3
And/or the instruction in embodiment corresponding to Fig. 7.
Processor 920 is coupled to memory 910, can be used as one or more integrated circuits to implement, such as micro process
Device or microcontroller.The processor 920 for executing the instruction stored in memory, by from by bound term inspection to code
The combination that selection in the combination of cabinet and basic point meets Optimum Matching relationship is put, is deleted from filter corresponding to selected combination
Row and column, and in the filter increase the new basic point as brought by selected combined cabinet, so as to reduce calculate
Amount improves computational efficiency.
In one embodiment, can also as shown in Figure 10, which includes memory 1010 and processor 1020.
Processor 1020 is coupled to memory 1010 by BUS bus 1030.The system 1000 can also be connected by memory interface 1040
External memory 1050 is connected to call external data, network or in addition can also be connected to by network interface 1060
One computer system (not shown), no longer describes in detail herein.
In this embodiment, it is instructed by memory stores data, then above-metioned instruction is handled by processor, by from logical
Selection meets the combination of Optimum Matching relationship in the combination of the cabinet and basic point to be piled up of Planar Mechanisms item inspection, and deletes from filter
Except row and column corresponding to selected combination, and increase the new base as brought by selected combined cabinet in the filter
Point improves computational efficiency so as to reduce calculation amount.
In further embodiments, the disclosure additionally provides a kind of computer readable storage medium, is stored thereon with calculating
The step of machine program instruction, which realizes the method in embodiment corresponding to Fig. 3 and/or Fig. 7 when being executed by processor.Ability
Technical staff in domain is it should be appreciated that embodiment of the disclosure can provide as method, apparatus or computer program product.Therefore, originally
The open form that complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used.And
And the disclosure can be used and can be deposited with non-transient in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The disclosure is reference according to the method for the embodiment of the present disclosure, the flow chart of equipment (system) and computer program product
And/or block diagram describes.It should be understood that each process in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer programs to refer to
Enable the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
So far, the disclosure is described in detail.In order to avoid covering the design of the disclosure, it is public that this field institute is not described
The some details known.Those skilled in the art as described above, completely it can be appreciated how implementing technology disclosed herein
Scheme.
Disclosed method and system may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combination realize disclosed method and system.The said sequence of the step of for the method
Merely to be illustrated, the step of disclosed method, is not limited to sequence described in detail above, special unless otherwise
It does not mentionlet alone bright.In addition, in some embodiments, also the disclosure can be embodied as to record program in the recording medium, these programs
Including for realizing according to the machine readable instructions of disclosed method.Thus, the disclosure also covers storage for executing basis
The recording medium of the program of disclosed method.
Although being described in detail by some specific embodiments of the example to the disclosure, the skill of this field
Art personnel it should be understood that above example merely to be illustrated, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel are it should be understood that can modify to above embodiments in the case where not departing from the scope of the present disclosure and spirit.This public affairs
The range opened is defined by the following claims.
Claims (18)
1. a kind of for by the method for cabinet mixing stacking, comprising:
Filter is established according to cabinet to be piled up and basic point；
The combination for treating stacking cabinet and basic point carries out bound term inspection one by one, and inspection result is recorded in the filter；
And
By selection strategy, selection meets Optimum Matching pass from the combination by the cabinet and basic point to be piled up of bound term inspection
The combination of system is deleted the corresponding row and column of selected combination from the filter, and is increased in the filter by institute
Select new basic point brought by combined cabinet.
2. according to the method described in claim 1, wherein, the bound term inspection includes:
With the presence or absence of intersecting, the cabinet for being in upper and lower spatial position whether there is enough bearing area in the space of cabinet,
Space is limited with whether cabinet exceeds pallet.
3. according to the method described in claim 2, wherein, including: by the step that inspection result is recorded in the filter
In the space of cabinet, there is no the cabinet for the upper and lower spatial position that intersects, is in, there are enough bearing area and cabinets
In the case where limiting space without departing from pallet, determine that the combination of cabinet and basic point to be piled up passes through bound term inspection, and should
It is recorded in the filter by the result of bound term inspection.
4. according to the method described in claim 2, wherein, including: by the step that inspection result is recorded in the filter
There is the cabinet for intersecting, being in upper and lower spatial position in the space of cabinet does not have enough bearing area or cabinet
In the case where limiting space beyond pallet, determine that the combination of cabinet to be piled up and basic point, and should not over bound term inspection
It is recorded in the filter not over the result of bound term inspection.
5. according to the method described in claim 1, further include:
Continue the combination to remaining cabinet to be piled up and new basic point and carry out bound term inspection, and continues selection and meet Optimum Matching
The combination of the cabinet and basic point to be piled up of relationship, until cabinet not piled up or no available pallet space.
6. according to the method described in claim 5, wherein, being carried out continuing the combination to remaining cabinet to be piled up and new basic point
Before bound term checks, the method also includes:
It checks in the remaining combination of cabinet and basic point to be piled up with the presence or absence of the combination by bound term inspection；If there is passing through
The remaining combination of bound term inspection then checks that the space of residue combination raising middle flask body whether there is and intersects；If there is no
By the residue combination of bound term inspection, then bound term inspection next time is carried out without combining to residue.
7. according to the method described in claim 6, further include:
It intersecting if the space of residue combination raising middle flask body exists, it is determined that the residue is combined not over bound term inspection,
Otherwise determine that residue combination passes through bound term inspection.
8. according to the method described in claim 2, wherein, the combined step of Optimum Matching relationship is met by selection strategy selection
Suddenly include:
For the basic point, select floor space maximum from the combination by the cabinet and basic point to be piled up of bound term inspection to
Pile up cabinet, wherein the maximum cabinet to be piled up of the floor space and the basic point meet Optimum Matching relationship；Alternatively,
For the basic point, in the combination by the cabinet and basic point to be piled up of bound term inspection if it exists floor space it is equal and
Maximum at least two cabinet to be piled up, then described at least two wait pile up the highest case to be piled up of selection height in cabinet
Body, wherein the highest cabinet to be piled up of the height and the basic point meet Optimum Matching relationship.
9. a kind of for by the system of cabinet mixing stacking, comprising:
Filter generation unit, for establishing filter according to cabinet to be piled up and basic point；
Bound term inspection unit, the combination for treating stacking cabinet and basic point carries out bound term inspection one by one, by inspection result
It is recorded in the filter；And
Selecting unit, for passing through selection strategy selector from the combination by the cabinet and basic point to be piled up of bound term inspection
The corresponding row and column of selected combination is deleted in the combination for closing Optimum Matching relationship from the filter, and in the filtering
Increase the new basic point as brought by selected combined cabinet in device.
10. system according to claim 9, wherein the bound term inspection includes:
With the presence or absence of intersecting, the cabinet for being in upper and lower spatial position whether there is enough bearing area in the space of cabinet,
Space is limited with whether cabinet exceeds pallet.
11. system according to claim 10, wherein
The cabinet that the bound term inspection unit is used to be not present the upper and lower spatial position that intersects, is in the space of cabinet is deposited
In enough bearing area and in the case that cabinet limits space without departing from pallet, the combination of cabinet and basic point to be piled up is determined
It is recorded in the filter by bound term inspection, and by the result by bound term inspection.
12. system according to claim 10, wherein
The bound term inspection unit is used for the space in cabinet not to be had in the presence of the cabinet for intersecting, being in upper and lower spatial position
In the case that enough bearing area or cabinet limit space beyond pallet, determine that the combination of cabinet and basic point to be piled up does not have
It is recorded in the filter by bound term inspection, and by the result not over bound term inspection.
13. system according to claim 9, wherein
The bound term inspection unit is also used to continue the combination to remaining cabinet to be piled up and new basic point and carries out bound term inspection
It looks into；
The selecting unit is also used to continue the combination that selection meets the cabinet and basic point to be piled up of Optimum Matching relationship, until not having
Need to be piled up cabinet or without until available pallet space.
14. system according to claim 13, wherein
The bound term inspection unit, which is also used to check to whether there is in the remaining combination of cabinet and basic point to be piled up, passes through constraint
The combination that item checks；It is combined if there is by the residue of bound term inspection, then checks that the space of residue combination raising middle flask body is
No presence intersects；It is combined if there is no by the residue of bound term inspection, then without being carried out next time to residue combination
Bound term inspection.
15. system according to claim 14, wherein
It intersects if the space that the bound term inspection unit is also used to remaining combination raising middle flask body exists, it is determined that the residue
Otherwise combination determines that residue combination passes through bound term inspection not over bound term inspection.
16. system according to claim 10, wherein
The selecting unit is used for: for the basic point, from the combination by the cabinet and basic point to be piled up of bound term inspection
Select the maximum cabinet to be piled up of floor space, wherein the maximum cabinet to be piled up of the floor space and the basic point meet Optimum Matching
Relationship；Alternatively, for the basic point, the floor space if it exists in the combination by the cabinet and basic point to be piled up of bound term inspection
Equal and maximum at least two cabinet to be piled up, then it is highest to code wait pile up selection height in cabinet described at least two
Put cabinet, wherein the highest cabinet to be piled up of the height and the basic point meet Optimum Matching relationship.
17. a kind of for by the system of cabinet mixing stacking, comprising:
Memory；And
It is coupled to the processor of the memory, the processor is configured to based on the instruction execution for being stored in the memory
Method as described in claim 1 to 8 any one.
18. a kind of computer readable storage medium, is stored thereon with computer program instructions, real when which is executed by processor
Now the step of method as described in claim 1 to 8 any one.
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| CN110371694B (en) | 2021-07-30 |
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